cmake_minimum_required(VERSION 3.8)
project(force_control)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)


add_executable(servo_node src/servo_node.cpp)
ament_target_dependencies(servo_node rclcpp geometry_msgs tf2_ros)
# add_executable(visual_control src/visual_control.cpp)
# ament_target_dependencies(visual_control rclcpp geometry_msgs tf2_ros moveit_ros_planning_interface)

# 安装可执行文件
install(TARGETS
servo_node
  DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}
)

ament_package()
